Related Experiment Video
Updated: Aug 5, 2026

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
Published on: April 11, 2018
Energy-Efficient Motion Simulation of a Bioinspired Variable Stiffness Joint Emulating Elbow Function for Periodic
Yapeng Xu1, Kaishun Hao1, Caidong Wang1
1College of Mechanical and Electrical Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China.
Abstract:
Inspired by the energy-efficient resonance strategy of the human elbow joint during periodic arm swing, this paper investigates the energy-saving motion and performance of a robotic variable stiffness joint. A modular stiffness adjustment mechanism with continuously adjustable stiffness based on Archimedean spiral grooves is proposed. A co-simulation model using MATLAB (R2022b)/ADAMS (2020) is established, and dynamic equations are derived to reveal the correlation between resonance/anti-resonance frequencies and joint rotational stiffness. Mimicking the biological principle of stiffness-frequency matching, an energy-saving controller leveraging the resonance effect is designed, which includes a motor energy consumption model to quantify losses and an optimization strategy to match the joint rotational stiffness with the load anti-resonance frequency. Simulation results demonstrate that in variable stiffness mode, aligning the system anti-resonance frequency with the task trajectory frequency significantly reduces joint energy consumption, validating the bioinspired approach. In contrast, the high-stiffness (rigid) mode leads to a surge in system energy consumption.
Related Concept Videos
Work and Energy for Variable Forces
Development of the Limb Synovial Joints
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
Kinetic Energy for a Rigid Body
Virtual Work for a System of Connected Rigid Bodies
Next,...
Static and Kinetic Frictional Force
However, if two systems are in contact and are stationary relative to one...
Planar Rigid-Body Motion
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
